session_config.json5

/// All options here: 
/// https://github.com/ros2/rmw_zenoh/blob/rolling/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
/// https://github.com/eclipse-zenoh/zenoh/blob/main/DEFAULT_CONFIG.json5
{
  /// The node's mode (router, peer or client)
  mode: "peer",

  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
  /// ROS setting: By default connect to the Zenoh router on localhost on port 7447.
  connect: {
    endpoints: [
      "tcp/router-host:7447",
    ],
  },

  /// Which endpoints to listen on. E.g. tcp/localhost:7447.
  /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
  /// peers, or client can use to establish a zenoh session.
  /// ROS setting: By default accept incoming connections only from localhost (i.e. from colocalized Nodes).
  ///              All communications with other hosts are routed by the Zenoh router.
  listen: {
    endpoints: [
      "tcp/localhost:0",
    ],
  },

  /// Configure the scouting mechanisms and their behaviours
  scouting: {
    /// In client mode, the period dedicated to scouting for a router before failing
    timeout: 3000,
    /// In peer mode, the period dedicated to scouting remote peers before attempting other operations
    delay: 1,
    /// The multicast scouting configuration.
    multicast: {
      /// Whether multicast scouting is enabled or not
      enabled: false,
      /// The socket which should be used for multicast scouting
      address: "224.0.0.224:7446",
      /// The network interface which should be used for multicast scouting
      interface: "auto", // If not set or set to "auto" the interface if picked automatically
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
      /// Accepts a single value or different values for router, peer and client.
      /// Each value is bit-or-like combinations of "peer", "router" and "client".
      autoconnect: { router: "", peer: "router|peer" },
      /// Whether or not to listen for scout messages on UDP multicast and reply to them.
      listen: true,
    },
    /// The gossip scouting configuration.
    gossip: {
      /// Whether gossip scouting is enabled or not
      enabled: true,
      /// When true, gossip scouting informations are propagated multiple hops to all nodes in the local network.
      /// When false, gossip scouting informations are only propagated to the next hop.
      /// Activating multihop gossip implies more scouting traffic and a lower scalability.
      /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
      /// direct connectivity with each other.
      multihop: false,
      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
      /// Accepts a single value or different values for router, peer and client.
      /// Each value is bit-or-like combinations of "peer", "router" and "client".
      autoconnect: { router: "", peer: "router|peer" },
    },
  },

 /// Configuration of data messages timestamps management.
  timestamping: {
    /// Whether data messages should be timestamped if not already.
    /// Accepts a single boolean value or different values for router, peer and client.
    /// PublicationCache which is required for transient_local durability
    /// only works when time-stamping is enabled.
    enabled: { router: true, peer: true, client: false },
    /// Whether data messages with timestamps in the future should be dropped or not.
    /// If set to false (default), messages with timestamps in the future are retimestamped.
    /// Timestamps are ignored if timestamping is disabled.
    drop_future_timestamp: false,
  },

}